arxivcs.RO2026-07-06
CAC-VLA: Context-Gated Action Conditioning for Vision-Language-Action Models
Yifu Xiong, Wenhao Yu, Jiaxuan Lin, Bojun Zou, Jiahao Li, Lu Zhang, et al.
Vision-Language-Action (VLA) models have become a promising paradigm for generalist robot manipulation, where visual-language representations are used to condition continuous action generation. However, these representations are not explicitly optimized for action conditioning, l…